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added util3d::cloudFromDisparity()

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1915 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-22 20:33:26 +00:00
parent d220301f50
commit 8e55d7847f
2 changed files with 50 additions and 0 deletions
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6
corelib/include/rtabmap/core/util3d.h
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@@ -210,6 +210,12 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
float fx, float fy,
int decimation = 1);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
const cv::Mat & imageDisparity,
float cx, float cy,
float fx, float baseline,
int decimation);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
const cv::Mat & imageRgb,
const cv::Mat & imageDisparity,